In Sintra, you can get around by walking, by bus, or by taxi. If you're just in Sintra for 24 hours, walking will take up too much time. With that amount of time, it's best to take the train from Lisbon to Sintra, and then use Sintra's bus lines or taxis to get around. There are two bus routes you'll use in Sintra.

Getting around Sintra can be challenging but manageable if you plan according to the town’s unique geography and heavy tourist traffic. Because Sintra is built on steep, winding hills with very narrow roads, driving a rental car is highly discouraged; parking is nearly impossible, and many roads are restricted to local residents and authorized taxis. The most efficient way for tourists is the 434 tourist bus, which runs a circular route from the train station to the historic center, the Moorish Castle, and the Pena Palace. However, these buses can get extremely crowded in the afternoon. Walking between sights is possible for those in good physical shape, but the hike from the town center to Pena Palace is a grueling, uphill trek that takes 45–60 minutes. Alternatively, "Tuk-Tuks" and ride-share apps like Uber are available but can be expensive during peak hours. In 2026, the best strategy remains arriving via the early morning train from Lisbon and using the public bus system or a pre-booked guided tour to navigate the vertical terrain of this UNESCO World Heritage site.